APPROXIMATION OF JACOBIAN INVERSE KINEMATICS ALGORITHMS

被引：15
|
作者：
Tchon, Krzysztof [1 ]
Karpinska, Joanna [1 ]
Janiak, Mariusz [1 ]
机构：
[1] Wroclaw Univ Technol, Inst Comp Engn Control & Robot, PL-50372 Wroclaw, Poland
来源：
INTERNATIONAL JOURNAL OF APPLIED MATHEMATICS AND COMPUTER SCIENCE | 2009年 / 19卷 / 04期
关键词：
robot inverse kinematics; extended Jacobian; Jacobian pseudoinverse; approximation; CONTROL STRATEGIES; REDUNDANT; REPEATABILITY;
D O I：
10.2478/v10006-009-0041-3
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation problem are developed: one relies on variational calculus, the other is differential geometric. Example designs of the extended Jacobian inverse kinematics algorithm for 3DOF manipulators as well as for the unicycle mobile robot illustrate the theoretical concepts.
引用
收藏
页码：519 / 531
页数：13
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